Cooperative guidance law based on super-twisting observer for target maneuvering

To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,the relative motion equations between multiple missiles and targets are established,and the topological model among multiple agents is considered.Secondly,based on the temporal consistency constraint,a cooperative guidance law for simultaneous arrival with finite-time convergence is derived.Finally,the unknown target maneuver-ing is regarded as bounded interference.Based on the second-order sliding mode theory,a super-twisting sliding mode observer is devised to observe and track the bounded interfer-ence,and the stability of the observer is proved.Compared with the existing research,this approach only needs to obtain the sliding mode variable which simplifies the design process.The simulation results show that the designed cooperative guidance law for maneuvering targets achieves the expected effect.It ensures successful cooperative attacks,even when confronted with strong maneuvering targets.

Variable structure guidance law for attacking surface maneuver targets

The characteristics of surface maneuver targets are analyzed and a 3-D relative motion model for missiles and targets is established. A variable structure guidance law is designed considering the characteristics of targets. In the guidance law, the distance between missiles and targets as well as the missile-target relative velocity are all substituted by estimation values. The estimation errors, the target＇s velocity, and the maneuver acceleration are all treated as bounded disturbance. The guidance law proposed can be implemented conveniently in engineering with little target information. The performance of the guidance system is analyzed theoretically and the numerical simulation result shows the effectiveness of the guidance law.

Infrared image simulation of ground maneuver target and scene

Infrared scene simulation has extensive applications in military and civil fields. Based on a certain experimental environment,object-oriented graphics rendering engine（ OGRE） is utilized to simulate a real three-dimensional infrared complex scene. First,the target radiation of each part is calculated based on our experimental data. Then through the analysis of the radiation characteristics of targets and related material,an infrared texture library is established and the 3ds Max software is applied to establish an infrared radiation model.Finally,a real complex infrared scene is created by using the OGRE engine image rendering technology and graphic processing unit（ GPU） programmable pipeline technology. The results show that the simulation images are very similar to real images and are good supplements to real data.

Maneuvering target track-before-detect via multiple-model Bernoulli particle filter

Target tracking using non-threshold raw data with low signal-to-noise ratio is a very difficult task, and the model uncertainty introduced by target's maneuver makes it even more challenging. In this work, a multiple-model based method was proposed to tackle such issues. The method was developed in the framework of Bernoulli filter by integrating the model probability parameter and implemented via sequential Monte Carlo(particle) technique. Target detection was accomplished through the estimation of target's existence probability, and the estimate of target state was obtained by combining the outputs of modeldependent filtering. The simulation results show that the proposed method performs better than the TBD method implemented by the conventional multiple-model particle filter.

Design of a robust guidance law via active disturbance rejection control

Focusing on the three-dimensional guidance problem in case of target maneuvers and response delay of the autopilot, the missile guidance law utilizing active disturbance rejection control （ADRC） is proposed. Based on the nonlinear three-dimensional missile target engagement kinematics, the guidance model is es- tablished, The target acceleration is treated as a disturbance and the dynamics of the autopilot is considered by using a first-order model. A nonlinear continuous robust guidance law is designed by using a cascaded structure ADRC controller. In this method the disturbance is estimated by using the extended state observer （ESO） and compensated during each sampling period. Simulation results show that the proposed cascaded loop structure is a viable solution to the guidance law design and has strong robustness with respect to target maneuvers and response delay of the autopilot.

Line-of-sight rates extraction of roll-pitch seeker under anti-infrared decoy state

In this paper,the method of extracting guidance information such as the line-of-sight(LOS)rates under the anti-infrared decoy state for the roll-pitch seeker is researched.Coordinate systems which are used to describe the angles transform are defined.The LOS angles reconstruction model of the roll-pitch seeker in inertial space is established.A Kalman filter model for extracting LOS rates of the roll-pitch seeker is proposed.In this model,the target performs constant acceleration(CA)model maneuvers.The error model of LOS rates extraction under infrared decoy state is established.Several existing methods of extracting LOS rates under anti-infrared decoy state are listed in this paper.Different from the existing methods,a novel method that uses extrapolated values of target accelerations as filter measurements is proposed to solve the guidance information extraction problem under the anti-infrared decoy state.Numerical simulations are conducted to verify the effectiveness of the proposed method under different target maneuvering models such as the CA model,the CA extended model and the singer model.The simulation results show that the proposed method of extracting guidance information such as LOS rates for the rollpitch seeker under the anti-infrared decoy state is effective.

Cooperative guidance law with maneuverability awareness:A decentralized solution

In this paper,we propose a cooperative guidance law aimed to achieve coordinated impact angles with limited observation on target information.The primary challenge lies in establishing an appropriate communication graph among all missiles and devising an algorithm to estimate target acceleration information during engagements.To address this,we propose a specific communication topology and employ a numerical integration-based estimation method.Additionally,a distributed algorithm is introduced to facilitate consensus on target acceleration estimation.Building upon these foundations,we design an optimal-control-based distributed guidance law for each missile.Performance of the proposed guidance law is validated through numerical simulations.

SCKF-STF-CN:a universal nonlinear filter for maneuver target tracking

Square-root cubature Kalman filter (SCKF) is more effective for nonlinear state estimation than an unscented Kalman filter.In this paper,we study the design of nonlinear filters based on SCKF for the system with one step noise correlation and abrupt state change.First,we give the SCKF that deals with the one step correlation between process and measurement noises,SCKF-CN in short.Second,we introduce the idea of a strong tracking filter to construct the adaptive square-root factor of the prediction error covariance with a fading factor,which makes SCKF-CN obtain outstanding tracking performance to the system with target maneuver or abrupt state change.Accordingly,the tracking performance of SCKF is greatly improved.A universal nonlinear estimator is proposed,which can not only deal with the conventional nonlinear filter problem with high dimensionality and correlated noises,but also achieve an excellent strong tracking performance towards the abrupt change of target state.Three simulation examples with a bearings-only tracking system are illustrated to verify the efficiency of the proposed algorithms.

A tracking filter method of active sonar subject to unknown target maneuver

A tracking filter algorithm based on the maneuvering detection delay is presented in order to solve the fuzzy problem of target maneuver decision introduced by the measure？ment errors of active sonar. When the maneuvering detection is unclear, two target moving hypotheses, the uniform and the maneuver, derived from the method of multiple hypothesis tracking, are generated to delay the final decision time. Then the hypothesis test statistics is constructed by using the residual sequence. The active sonar？s tracking ability of unknown prior information targets is improved due to the modified sequential probability ratio test and the integration of the advantages of strong tracking filter and the Kalman filter. Simulation results show that the algorithm is able to not only track the uniform targets accurately, but also track the maneuvering targets steadily. The effectiveness of the algorithm for real underwater acoustic targets is further verified by the sea trial data processing results.

Sliding-Mode-Control Based Robust Guidance Algorithm Using Only Line-of-Sight Rate Measurement

Robust guidance algorithm using only line-of-sight rate measurement is proposed for the interceptor with passive seeker.The initial relative distance,initial closing velocity and their error boundaries are employed to obtain their estimations according to the interceptor-target relative kinematics.A robust guidance law based on sliding mode control is formulated,in which the boundary of target maneuver is needed and the chattering phenomenon inevitably exists.In order to address the defects above,an estimation to the boundary of the target acceleration is proposed to improve the robust guidance law and the Lyapunov stability analysis is included.The main feature of the robust guidance algorithm is that it reduces the influence of the relative distance,the closing velocity and the target maneuver on the interception and enhances the effect of line-of-sight rate.With two worst conditions of initial measured distance and initial measured closing velocity,performances of the proposed guidance laws are verified via numerical simulations against different target maneuvers.